Satellite Navigation GPS Modernization and R D in the

Satellite Navigation: GPS Modernization and R&D in the Academic Sector Richard B. Langley Geodetic Research Laboratory Department of Geodesy and Geomatics Engineering University of New Brunswick Fredericton, N. B. National Sector Team for Space Annual Meeting, Canadian Space Agency St-Hubert, QC. • 3 -4 July 2001 RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Outline • • • GPS Weaknesses GPS Modernization The Shrinking GPS Receiver GPS and E-911 The Future of GPS Technology GPS R&D at Canadian Universities RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

GPS Weaknesses • C/A-code only on L 1: no dual-frequency ionospheric delay correction • L 1 and L 2 signals not afforded total spectrum protection • GPS signals relatively weak (actually buried in background noise) - Signals cannot readily penetrate into concrete and steel buildings or underground - Signals can be blocked by buildings and other structures - Susceptible to interference or jamming • Reflected signals (multipath) cause position error RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Signal Blockage Tall buildings can block GPS satellite signals Reduced satellite visibility increases geometrical dilution of precision resulting in reduced positioning accuracy RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

GPS Modernization • One goal is enhanced capabilities for civil users of GPS • Civil benefits include: – Selective Availability (SA) turned off on 2 May 2000 – Second civil frequency for ionospheric correction and redundancy – Third civil signal for “safety of life” applications in protected spectrum; more robust; also provides high accuracy and benefits real-time applications RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Selective Availability Switched Off RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

GPS Modernization Details • Last 12 Block IIRs - Add second civil signal (C/A on L 2) and new military signal (M-code). Provide more signal power. First modernized launch (Block IIR-M) - FY 03 • First 6 Block IIFs (“IIF Lite”) - All of above capabilities plus new third civil signal in protected band (L 5). First Block IIF “Lite” launch - FY 05 • At the current GPS satellite replenishment rate, all three civil signals (L 1 -C/A, L 2 -C/A, and L 5) will be available for initial operational capability by 2010, and for full operational capability by approximately 2013. RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Block IIR Satellite RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Block IIF Satellite RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Signal Modernization C/A P(Y) Present Signal C/A P(Y) Civil Non-Aviation Signal (>2003) M Civil Aviation & New Military Signals (>2005) P(Y) C/A P(Y) 1176 MHz L 5 C/A 1227 MHz L 2 M C/A P(Y) 1575 MHz L 1 RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

The Incredible Shrinking GPS Receiver • First commercially available GPS receivers, circa 1980, consisted of two 19 -inch racks of electronics • In 1982, first “portable” receiver introduced; weighed 25 kg and consumed 110 watts of power • First large handheld receivers introduced in 1988 • 1993: multi-chip module prototype • 1999: GPS watch RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

“Two Chip” GPS Receiver RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Axiom. Navigation Swift B 1 OEM Receiver • OEM module • Based on Si. RF 2 nd generation chip set RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

i. Trax 02 GPS Receiver Module |-----25 mm-----| RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Casio Satellite Navi Watch • PAT-1 GP first generation version introduced in 1999 • PAT-2 GP second generation version introduced last year • More compact and lighter • Rechargable lithium-ion battery • PC interface • $499. 95 (U. S. ) RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

FCC E-911 Requirements • FCC issued a Report and Order in October 1996 requiring U. S. network operators to implement an E-911 location capability by October 2001 • Phase I: Pass caller’s phone number, cell-site, and cellsector location information to public safety answering point (PSAP) by April 1998 • Phase II: Provide caller’s location (latitude and longitude) to appropriate PSAP by October 2001 – automatic location identification (ALI) • 2 major solution technologies: network-based and handset -based RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Networked-based Location Technologies – provides the location of wireless 911 callers using hardware and/or software in the wireless network and/or another fixed infrastructure – does not require the use of special location determining hardware and/or software in the caller’s portable or mobile phone – e. g. , time-difference of arrival (TDOA), angle of arrival (AOA), hybrid systems, RF “fingerprinting” RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Handset-based Location Technologies – provides the location of wireless 911 callers using special location-determining hardware and/or software in the caller’s portable or mobile phone – may employ additional location-determining hardware and/or software in the wireless network and/or another fixed infrastructure – e. g. , GPS, Loran-C – GPS: standalone and network-assisted (e. g. Snap. Track) RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Phase II Accuracy Standards • For network-based solutions: 100 metres for 67% of calls; 300 meters for 95% of calls • For handset-based solutions: 50 metres for 67% of calls; 150 metres for 95% of calls RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

GPS-capable Handsets • First sets introduced in 1999 • Several manufacturers currently selling GPS-equipped handsets, mostly in Europe (GSM) • Si. RF Technology recently signed major contracts with both Nokia and Ericsson RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

The Future of GPS Technology • Further miniaturization of the technology • Integration of GPS receivers into PDAs, cameras, sports equipment, etc. • Pet, child, and disabled tracking systems and services • Other location-based services such as L-commerce • Network-assisted GPS (permits weaker signal use) • Bluetooth (short range RF) connectivity between GPS receivers and other Bluetooth-equipped devices (GPS + Bluetooth = positioning inside buildings? ) • New GPS signals; higher power signals • GPS + GLONASS + Galileo RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

GPS R&D at Canadian Universities • Main research labs: – Geodetic Research Laboratory, Dept. of Geodesy and Geomatics Engineering, University of New Brunswick (Langley, Santos, Dare) – Satellite-based Positioning and Navigation Group, Dept. of Geomatics Engineering, The University of Calgary (Lachapelle, Cannon) – Equipe GPS, Centre de Recherche en Géomatique, Université Laval (Santerre) RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

University GPS R&D Themes • Physical and mathematical modelling of GPS observables (both functional and stochastic models) • Development of new techniques and procedures for GPS positioning and navigation and the enhancement of existing techniques • Assessment of accuracy and integrity of positional information RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

University of New Brunswick • Modelling the neutral-atmosphere propagation effects in radiometric space techniques • Improved modelling of data from the Western Canada Deformation Array • Development of a low-cost GPS-based vehicle tracking system • Automatic daily assessment of the GPS broadcast ephemerides • Automatic daily assessment of WAAS corrections and WAAS performance in eastern Canada • Development of precise point positioning algorithms and software RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

University of New Brunswick, cont’d. • • • Geometric tracking of GPS-equipped low earth orbiters Automated cycle slip correction Stochastic modelling of GPS observations Improvement of precise and reliable kinematic GPS positioning in real time Optimal techniques for GPS ambiguity resolution Development of multipath mitigation techniques Ionospheric effects on Galileo Establishment of reference sites and control networks GPS equipment and site testing RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

The University of Calgary • Availability, reliability and accuracy of GPS/Galileo • Estimation of oscillator stability in the time domain using GPS • GPS/INS integration • Use of multiple GPS antennas/receivers for code and carrier phase multipath mitigation • Vehicular navigation in urban canyons and under forestry canopy • Use of multiple reference stations for GPS carrier-phase based positioning • Centimetre-level relative positioning of distributed moving platforms RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

The University of Calgary, cont’d. • Availability and reliability of GPS augmented with other satellite systems and onboard sensors • Use of GPS/INS for aircraft positioning • Use of combined GPS and GLONASS for heading and pitch determination • Effect of the ionosphere on GPS in auroral regions • Effect of ice loading on GPS antennas • Augmentation of GPS with pseudolites • GPS-based attitude determination using a multi-antenna approach • Application of GPS and GIS technologies to precision farming RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Université Laval • Improvement of kinematic OTF-GPS positioning over long distances • Integration of GPS/GLONASS satellite positioning systems • Improvement of GPS ambiguity resolution using height constraint for bathymetric surveys • Simulations of attitude determination for RADARSAT-I using GPS • Direct determination of angular velocity using GPS • A combined method for GPS ambiguity resolution with single frequency receivers • Development of a GPS-based system for the support of ship berthing operations RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Université Laval, cont’d. • Use of GPS for bridge deformation monitoring • Impact of antenna configuration on GPS attitude determination • Development of a telescopic mast for a GPS antenna • Modelling ionospheric effects for ambiguity resolution • Use of GPS in large engineering works • Use of GPS for precision agriculture • Combined use of GPS and RADARSAT imagery for deformation monitoring • Use of GPS in sport RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Back-up slides RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Differential GPS • Increases stand-alone GPS receiver accuracy • Several commercial and public broadcast systems in use or under development: - Coast Guard LF beacons (public) - FM sub-carrier (commercial) - Satellite L-band (commercial) - Wide Area Augmentation System (public) - Canada-wide DGPS Service (public) • Private systems also used RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Garmin Nav. Talk • Garmin Corporation, Olathe, KS • Nav. Talk Pilot: first GPS-equipped cellular telephone (1999) • Advanced Mobile Phone System • Moving-map display • First Assist™ one-touch emergency service • Standard version (Nav. Talk) also available • Nav. Talk II GSM phone (4 th Q, 2001) RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Tendler Cellular Fone. Finder • GPS receiver add-on to conventional cellular phone • Emergency button • Position information sent in synthesized voice announcement RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Airbiquity GPS Accessory • Airbiguity Inc. , Bainbridge Island, WA • Adds GPS capability to existing Nokia 5100, 6100, and 7100 series phones • 12 -channel, Si. RF chip set based Axiom GPS receiver built into phone battery pack • Single button transmission of position • Data port for Palm OS PDAs RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Benefon Track GSM+GPS Phone • Benefon Oyj, Salo, Finland • Professional telematics phone • GSM phone + GPS • 12 -channel (all-in-view) GPS receiver • Flip-up GPS antenna • Short Message Service • Mobile Phone Telematics Protocol • Emergency dialing RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Benefon Esc! Personal Navigation Phone (1) • Benefon Oyj, Salo, Finland • Personal navigation phone • GSM phone + GPS • 12 -channel (all-in-view) GPS receiver • Flip-up GPS antenna • 100 x 160 pixel screen • Map display • External antenna and NMEA connectors RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick

Benefon Esc! Personal Navigation Phone (2) • Personal organizer • E-mail and Web access • Short Message Service • Mobile Phone Telematics Protocol • Mobile Map Service Protocol RBL/NSTS 30 Jun. 01 Geodetic Research Laboratory • Department of Geodesy and Geomatics Engineering • University of New Brunswick